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Creating Through Points in Linear Function with Parabolic Blends Path by Optimization Method
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The linear segment with parabolic blend (LSPB) trajectory deviates from the specified waypoints. It is restricted to that the acceleration must be sufficiently high. In this work, it is proposed to engage modified LSPB trajectory with particle swarm optimization (PSO) so as to create through points on the trajectory. The assumption of normal LSPB method that parabolic part is centered in time around waypoints is replaced by proposed coefficients for calculating the time duration of the linear part. These coefficients are functions of velocities between through points. The velocities are obtained by PSO so as to force the LSPB trajectory passing exactly through the specified path points. Also, relations for velocity correction and exact velocity solution are derived. Simulation results show that the engagement of modified LSPB trajectory with PSO to work well on the tested cases. This proposed method is very simple which can be used for on-line path planning, and not necessarily to use high acceleration magnitude.

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Publication Date
Fri Jun 01 2018
Journal Name
Journal Of Accounting And Financial Studies ( Jafs )
The tax planning and its effect on the investment: On sample of Iraqi Contribution Company
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The importance of the current study  lies in the  importance of the  Tax policy that  being considered one of the most important tools working on fulfilling  the  social,  financial  and economic  goals  and improving  the investment environment  in the country  to become  having the ability to  activate the  national economy. The current study  has  referred  that  (  Has  the  tax planning  practiced by  the Iraqi  contribution  companies  led to increase  the  far-term tax  outcome through  getting  benefit of   the monetary  funds  and expansion in&nbs

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Publication Date
Thu Dec 13 2018
Journal Name
Arab Science Heritage Journal
وسائل وسائل الاتصالات السريعة في حروب العرب المسلمين حتى منتصف القرن الرابع الهجري
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          This Study is concerned with The Fast communications in the wars of arab moslims until the middle of fourth century . it pointed to many communications for that , Like using the fast horses , and carrier pigeon , Almanader (Almanawin) wich used to tell for long distances , and drums , trumpets…

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Publication Date
Tue Jun 14 2022
Journal Name
Al-academy
The prospects ability of contemporary epistemology for signification internal construction of plastic artwork
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Based on the systematic scientific investigation of artistic achievement, researchers (critics) adhere to mechanisms based on epistemology, through which it is envisaged to reveal the meaning of the achievement as the product of three actors: the effectiveness of an artistic sense, the effectiveness of an idea, and the arousal of taste according to systematic criticism procedures that investigate the new artistic achievement. Or, in a specific way, the possibility of meaning in all the accomplished from the aesthetics of artistic presentation and the character of the self-accomplished by the "artist" and the critic invokes his critical tools with certain cognitive foundations. In defining its nature from the rest of the other cultural ac

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Publication Date
Thu Jan 01 2026
Journal Name
مفهوم التعايش السلمي واسهامه في تحقيق الامن المجتمعي : العراق بعد العام 2003م انموذجا
مفهوم التعايش السلمي واسهامه في تحقيق الامن المجتمعي : العراق بعد العام 2003م انموذجا
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Publication Date
Sun Jan 03 2016
Journal Name
Journal Of Educational And Psychological Researches
إنتاج المعرفة واكتسابها لدى طلبة كليات العلوم التربوية في بعض الجامعات الأردنية الرسمية
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This research attempts to propose production and acquisition of scientific knowledge among the students of educational science faculties in some universities Governmental Jordanian (Yarmouk, Jordan, Muta). In addition to sources of educational gained in some of the Governmental Jordanian universities (Yarmouk, Jordan, Muta), and to propose the necessary socio-cultural dimensions of knowledge acquisition and production, using developmental screening method, which is represented in the study design tool (questionnaire), which consisted of 4 scales, scale: The reality of the acquisition of knowledge / reality of the production of knowledge / social dimensions of knowledge acquisition and production / cultural dimensions of knowl

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Publication Date
Mon Feb 04 2019
Journal Name
Journal Of The College Of Education For Women
اثر استخدام دورة التعلم في تحصیل طالبات مرحلة الرابع العام للمعلومات الفیزیائیة واستبقائھا
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This research aims to reveal the impact of applying a teaching course in
gaining and preserving information by female students comparing with the
traditional method, through testing the two following hypotheses:
1. There is no difference with statistical significance at the level of
significance (0.05) between the average grades achieved by the
experimental group of female students taught using a teaching course,
and the control group of female students taught using the traditional
method.
2. There is no difference with statistical significance at the level of
significance (0.05) between the average grades achieved by the
experimental group of female students taught using a teaching course,
and the contro

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Publication Date
Fri Feb 08 2019
Journal Name
Journal Of The College Of Education For Women
تجلیات اللغة الایحائیة في دعاء الصباح للامام علي بن ابي طالب (علیھ السلام)
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The literary aspect of any text reveals when it used The inspiration language
which reveals the creative aspect of language for the creator (writer) he in turn
will seek for the best choice from these aspects then, he will distribute them due
to their intention, and according to the their context
Thus, propagandistic text contains many moral features which the language
accord to thus , we found that the morning (dua al asbah)is full of creative
literary manifestations through many abstentions which happened in different
structures that contain the text, especially in structure of metaphor, and contrast.
we found many outstanding gaps and abstentions in these are given life, matter
that gives the text the most l

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Publication Date
Sun Jan 27 2019
Journal Name
Journal Of The College Of Education For Women
Effect of the activity of Boswellia Carterii extracts on preservation of ground meat
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The study aimed to know the effect of the use alcoholic ethanol extraction of Boswellia Carterii In prolonging the period of preservation cooled ground meat in 4C for 6 days, it has been mixing ground meat with 150,300,450 mg/ml of alcoholic extract Consecutive, Where (0 was the control sample), All samples were stored separately for 0 , 3 , 6 days in Refrigerator temperature 4 C, Conducted by some microbial tests, Results have shown that mixing the ground meat with Boswellia Carterii extraction Led to prolong the storage of meat for 6 days at 4 C .and the Best result came when adding alcoholic ethanol extract of Boswellia Carterii by 450mg/ml Which Equal 0.9 g ,that reducing microbial load more higher than 150&300 mg/ml. All of thes

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Publication Date
Tue Dec 01 2009
Journal Name
Journal Of Economics And Administrative Sciences
Building a strategic perspective on the system of governance and measuring the level of its performance Survey study at the University of Basra
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The Local and Global Corporations are suffering of managerial and financial corruption phenomena, which leads them to loss and bankruptcy. So, it is necessary to search for tools which help prevent phenomena like this, and one of these tools is (corporate governance) which represent controlling tool that contribute in reducing corruption. this study aims at modifying (corporate governance system)in order to make it suitable with Iraqi government Corporations. the study depend upon main hypothesis which is (the performance level of the strategic perspective of governance system is depending upon work according to the perspective dimensions itself.  From the main conclusions:-It is possible to building a strategic perspective

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Publication Date
Wed Mar 01 2017
Journal Name
كلية التربية الاساسية
رؤية مستقبلية للتطوير الإداري لكليات التربية في جامعة بغداد بأستخدام تكنولوجيا المعلومات والاتصالات
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إن التطور الهائل في منظومة تكنولوجيا المعلومات والاتصالات في العالم , أثر كثيراً في الجوانب الحياتية والاجتماعية والاقتصادية والسياسية والثقافية عامة والتربوية والتعليمية خاصة, إذ أصبح لها دور كبير في تسيير الكثير من الأمور. ولا بد من القول ان المؤسسات والمنظمات لا يمكن ان تنتقل من القرن العشرين الى القرن الحادي والعشرين إلا إذا أفادت من تكنولوجيا المعلومات والاتصالات, إذ توافر هذه التكنولوجيا الكثير من ال

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